Situated planning for execution under temporal constraints

Cashmore, Michael and Coles, Andrew and Cserna, Bence and Karpas, Erez and Magazzeni, Daniele and Ruml, Wheeler; (2018) Situated planning for execution under temporal constraints. In: Proceedings of the AAAI 2018 Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy. AAAI Press, USA.

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Abstract

One of the original motivations for domain-independent planning was to generate plans that would then be executed in the environment. However, most existing planners ignore the passage of time during planning. While this can work well when absolute time does not play a role, this approach can lead to plans failing when there are external timing constraints, such as deadlines. In this paper, we describe a new approach for time-sensitive temporal planning. Our planner is aware of the fact that plan execution will start only once planning finishes, and incorporates this information into its decision making, in order to focus the search on branches that are more likely to lead to plans that will be feasible when the planner finishes.

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